CN101045399A - Method for deciding spatterwork route on surface in pipe - Google Patents

Abstract

A method for determining the ink-jet print path on the inner surface of a pipe body includes such steps as choosing two positions in the area to be printed, measuring, calculating the circular center coordinate and radius of their circular cross-section, determining the circular center coordinate and radius of any of two positions, planning the ink-jet print job between two positions, choosing the third position, and repeating above-said steps.

Description

Method is determined in a kind of inner surface of tube body spatterwork path

(1) technical field

The present invention relates to metallurgical spray printing technology, relate in particular to a kind of inner surface of tube body position shape axial or circumferencial direction spray printing product labelling and detect and operation path method.

(2) background technology

The key link that the online spray printing mark of metallurgic product is logistics management in the metallurgical process, it utilizes medium or external force information such as mark steel grade, specification on product surface, is used for the identification of user and later process.The outer surface spray printing of tube product or columnar product can be divided into that product moves, the static dual mode of product, and wherein the spray printing mark of the forms of product movement generally carries out spatterwork by the jet-printing head that is fixed on gantry support in product moves; The then cantilever beam supports that adopt of the spray printing mark of product sleep mode, the spray printing chassis carries jet-printing head and carries out spatterwork more.The outer surface spray printing mainly adopts coating or ink, carries out the spray printing mark along axis direction in steel tube surface.

The inner surface spray printing of big caliber steel pipe has its particularity with respect to the tube outer surface spray printing: 1. the spray printing mode is various, and pipe inner periphery direction multirow spray printing or body axis direction spray printing are arranged; 2. security because of physical dimension, needs to consider to avoid the interference and collision of spray printing equipment and body; 3. complete body size and position detecting function thereof; 4. can eliminate the operation path planning of correlated error.

The spray printing labelling technique generally can be divided into two classes in the existing pipe: a class is artificially to carry out jet printing appts in the pipe of carrier with machine, rely on robot flexibly, space tasks adapts to the mark task that characteristics such as strong can be finished inner axial tube and circumferencial direction; Another kind of is special equipment in conjunction with Demand Design, and such installs bad adaptability, and is with strong points, but can't adapt to the change or the expansion of spatterwork task.

The position SHAPE DETECTION and the operation path of jet printing appts determine that method has following three kinds in the existing pipe:

1. U.S. Pat 5119109, proposed a kind of dot matrix coating or ink jet-printing head that pipe is interior or other curved surface is interior that be installed in, and this jet-printing head moves by transmission mechanism, at spray printing character pattern in the axis moving process.Spray printing mechanism contacts range finding and guides from the current location spray printing to character late with the outer surface of steel pipe.Transmission mechanism carries jet-printing head and finishes spatterwork in operation process, can be by steel pipe revolution carrying out multirow spray printing.But it does not possess body position SHAPE DETECTION function, and it adapts to the variation of steel pipe specification by manual regulating device, does not have the function of spray printing with the outer spray printing of pipe of pipe inner periphery direction.

2. U.S. Pat 4682182, utilize robot actuating mechanism, carry the spatterwork that shower nozzle carries out steel pipe pipe inner periphery direction.This patent is set the robot end path at stationary pipes internal diameter (or obtain specification from host computer), determines the spray printing original position by photoelectric sensor, manages the spatterwork of inner periphery direction single file word.The jet-printing head Front-end Design anticollision device, collision-prevention device.This patent does not have the checkout gear of body position and physical dimension, and underuses the robot characteristics, carries out spatterwork and path planning thereof, causes its device limitation bigger, flexibility and bad adaptability.

3. the interior spray printing product of Austrian NUMTek_Interstahl company's pipe is artificially to carry out carrier with the industrial machine of standard, possesses the pipe overall diameter and detects and the crashproof detection of head, can carry out the function of pipe inner periphery direction multirow spray printing and the outer axis direction spray printing of pipe.This device by the drive motors installed on the jet-printing head with shower nozzle on horizontal plane half-twist to realize the spray printing of circumferencial direction and axis direction.This product technology does not have the steel tube end part position detecting function, is difficult to guarantee the spray printing mark of American Petroleum Institute (API) standard in the regulation zone; Its outer diameter of steel pipes detection means is installed near end effector of robot one end, and its detection can't be eliminated spray printing section error in the pipe, easily causes spray printing parts and tube wall to be interfered; Steel pipe or the transportation step rate bigger to the physical dimension deviation cause position deviation, and its hardware and control strategy thereof can't be realized the operation of spray printing mark, poor fault tolerance.

The limitation that above-mentioned inner surface of tube body spray printing technology exists be mainly reflected in following some:

1. the body end position detects imperfection, and API has clearly regulation and big caliber steel tube end part position error can reach ± 50mm initial spray printing position from the distance of pipe end, and no end detects that photographic fixing sound is very big really to initial spray printing position.

2. the body size shape detects imperfection.The body form and position tolerance comprises: the linearity of circularity, axis, cylindricity.There is the position deviation of horizontal plane and vertical plane both direction in body on roller-way.Effective spray printing scope of general blackwash sprayer is between 25mm～30mm, big caliber deviation from circular from can reach ± 1.75% (to the steel pipe of  1000mm specification, its diameter deviation is ± 17.5mm), add the accumulated error that upper tube body axis verticality and roller-way cause, in this case, only adopt the body size of host computer transmission or be difficult to accurate response body position and shape by the method that the body external diameter detects, can't guarantee jet printing appts safety and spray printing quality, may cause the collision of jet printing appts and inner tubal wall, or cause that the bad and spatterwork of spray printing quality can't finish.

3. the influence of relevant accumulated error to operation and spray printing quality determined to be difficult to eliminate to greatest extent in the operation path.The path of existing spatterwork is determined to exist in body position SHAPE DETECTION on the one hand not enough, do not consider the influence of correlated error on determining in the path on the other hand to operation, adding the interior spatterwork of body pipe is the space three-dimensional operation, the demarcation difficulty of its device will not influence normally carrying out of spatterwork so consider the path planning of correlated error.Concerning the petroleum pipeline of big caliber, when its structural deviation and conveyer deviation are excessive, can't fulfil assignment by existing set path.

(3) summary of the invention

The object of the present invention is to provide a kind of inner surface of tube body spatterwork path to determine method, this spatterwork path determines that method can eliminate correlated error spatterwork is influenced, and prevents jet printing appts collision inboard wall of tube body, improves the spray printing quality.

The present invention is achieved in that a kind of inner surface of tube body spatterwork path determines method, it is characterized in that: in the spray printing zone, select a plurality of positions to carry out three point measurements, at first select two positions to measure, calculate the home position coordinate and the radius of the circular section of this position according to measurement data, then determine any point central coordinate of circle and radius between two positions, again planning is made in the spatterwork between these two positions according to the difference reinforcing method; Select the another location to carry out three point measurements again, the spatterwork planning between the another location is same as described above;

Its concrete steps are:

(1) start position B and the arbitrary position C in the spray printing zone are measured, its measurement data is:

The B position: $\left\{\begin{array}{ccc}{B1}_x& {B1}_y& {B1}_z\\ {B2}_x& {B2}_y& {B2}_z\\ {B3}_x& {B3}_y& {B3}_z\end{array}\right\};$ The C position: $\left\{\begin{array}{ccc}{C1}_x& {C1}_y& {C1}_z\\ {C2}_x& {C2}_y& {C2}_z\\ {C3}_x& {C3}_y& {C3}_z\end{array}\right\}$

(2) home position coordinate and the radius thereof that calculates B, circular section, C measuring position is respectively:

B _circle(B _x，B _y，B _z)，R _B

C _circle(C _x，C _y，C _z)，R _C

(3) operation process middle tube body axis is by B _Circle, C _Circle2 decisions, the radius R of circular section between B, the C measuring position _iHaving following formula to mend algorithm with difference determines:

$R_i=R_B+\frac{R_B-R_C}{l}{l}_i---\left(5\right)$

Wherein l is the distance of B, C two measuring position axis directions, l _iBe distance from B measuring position axis direction;

(4) the data path planning that carries out the spatterwork of B to C position in view of the above;

(5) increase other position again outside the C of position and carry out three point measurements, determine the spatterwork path planning of next section, its step is identical to (4) with (1).

Preferred embodiment is that two ends in the spray printing zone carry out two group of three point measurement, determines the spatterwork path planning.

Method is determined in above-mentioned inner surface of tube body spatterwork path, describedly sensor is housed with measuring tube end position value in jet-printing head device end, determines the spray printing district initial point position in body.

The present invention is by carrying out the multiposition multimetering in the inner spray printing of body zone, determine steel pipe actual size and position, and definite spatterwork path, carry out inner surface of tube body circumferencial direction and the operation of axis direction multirow character spray printing mark, eliminating correlated error influences spatterwork, prevent jet printing appts collision body, guarantee the spray printing quality.Overcome that spray printing in the existing pipe adopts body size that host computer sends or by body axial location and size are determined in the measurement of outside 3 of body, easily and the inboard wall of tube body defective of colliding.

(4) description of drawings

The invention will be further described below in conjunction with the drawings and specific embodiments.

Fig. 1 is a body position SHAPE DETECTION schematic diagram;

Fig. 2 is the position deviation schematic diagram (three-view diagram) of body at roller-way;

Fig. 3 is body dimensional discrepancy and body L length upper deviation schematic diagram;

Fig. 4 is spatterwork path contrast schematic diagram.

Among the figure: the 1 circle upper limit, 2 nominals circle, 3 circle lower limits; 4 spatterwork tracks of the present invention, 5 first measuring positions, 6 second measuring positions, 7 revise posterior axis, 8 existing spatterwork tracks, the many measurement points of 9 host computers and single cross section are determined axis.

(5) specific embodiment

Method is determined in a kind of inner surface of tube body spatterwork path, and include: (1) determines the body end position; (2) external diameter detects in the body; (3) body dimensional discrepancy and roller-way deviation; (4) determine the spatterwork path.Be elaborated below in conjunction with accompanying drawing.

(1) determines the body end position, referring to Fig. 1.Body end position detection effect is in order to determine the accurate position of initial spray printing, as the API standard-required from pipe end D _p=152.4mm (6 inches) beginning spray printing product labelling.The measurement of body axial location and size is in order to determine the physical location of the relative jet printing appts of steel pipe, to be used for determining jet printing appts operation path.

The present invention is equipped with sensor with measuring tube end position value in jet-printing head device end, determines the spray printing district initial point position in body.Sensor one in jet-printing head device end is to detect, the 2nd, and anticollision, sensor obtains triggering signal by pressing tube end, thereby determines body end position value, guarantees that the spray printing original position is in the scope of industry standard.When jet printing appts entered body inside, the rising edge signal of another sensor measurement on the jet-printing head device can be used as the check of body end position detected value, to guarantee the accuracy of end position measured value.The B1 of B position, B2, B3 point are spray printing zone original position among Fig. 1.

(2) external diameter detects in the body, referring to Fig. 1, the present invention is the method that adopts " nearby, multiposition multiple spot ", and promptly the measuring position is chosen in the spray printing zone, select a plurality of positions to carry out three point measurements at spray printing zone two ends or according to actual conditions respectively, the measurement of a plurality of positions can improve certainty of measurement.In the present embodiment, as shown in Figure 1, be chosen in two ends, spray printing zone as two groups of measurement points: (B3), (C1, C2 C3), can calculate the home position and the diameter thereof of this circular section according to these two groups of data for B1, B2.And can determine the actual axis of spray printing zone inner surface of tube body, and actual caliber and variation thereof according to these two groups of data.Can eliminate the accumulated error that body size and roller-way bring to greatest extent, guarantee that spatterwork finishes.

(3) body dimensional discrepancy and roller-way deviation, there is the position deviation of horizontal plane and vertical plane both direction in body on roller-way.Spray printing adopts body size that host computer sends or by body axial location and size are determined in the measurement of 3 of body outside A1, A2, A3 in the existing pipe, referring to Fig. 1, distance between very difficult assurance nozzle and the quilt spray surface is all the time in effective spray printing scope, and easy and inner tubal wall collision, can't guarantee jet printing appts safety.

The present invention adopts in spray printing zone multiposition multimetering method, considered that there is the position deviation of horizontal plane and vertical plane both direction in body on roller-way, thereby Dynamic Programming is carried out in the spatterwork path, guaranteed the spatterwork of body, prevent to collide with inboard wall of tube body.

Referring to Fig. 2, at first analyze in the cumulative maximum error of length for corresponding point on the body circular section of L.Body angular deviation of roller-way axis and body axis on horizontal plane is ± β that the angular deviation of roller-way axis and body axis is ± α on vertical plane.The A of long body two ends for L, B circular section as shown in Figure 3, the body deviation from circular from be ± e corresponding points P ', P on body A, the B circular section " accumulated error definite as follows:

The level in the center of circle, circular section that roller-way causes on pipe range L and vertical missing m, n (as shown in Figure 3) are respectively:

m＝±Ltanα (1)

n＝±Ltanβ (2)

Two circular section circle center error d _CircleFor:

$d_{\mathrm{circle}}=\sqrt{m^2+n^2}=L\sqrt{{\left(\tan \mathrm{\α}\right)}^2+{\left(\tan \mathrm{\β}\right)}^2}---\left(3\right)$

The worst error d of same point P on the corresponding circumference in L long tube body two circular sections like this _ErrorFor:

d _error＝d _circle+2e+δ (4)

Wherein: δ is the straightness error of L long tube body axis,

E is the body deviation from circular from.

From formula (4) as can be seen, the inside and outside spray printing of existing pipe is according to the weak point of host computer and single circular section multimetering method, and the defective in single circular section multimetering data schema operation path, that is: be used in the last data of measuring of circular section A and carry out path planning, the accumulated error that exists on the B circular section can reach d _Error, may cause like this: shower nozzle and tube wall collision; During the hypotelorism of spray gun and tube wall, specking is too small, and coating or the easy backwash of ink cause spray nozzle clogging to nozzle; During the hypertelorism of spray gun and tube wall, specking is excessive, and disperses, the spray printing poor effect.

(4) determining the spatterwork path, the present invention is directed to the accumulated error of body itself and roller-way thereof, is example with two group of three point measurement of spray printing zone two ends, referring to Fig. 1, determines that the step of taking in the spatterwork path is:

1) measure to start position B with at spray printing zone other end position C, its measurement data is:

The B position: $\left\{\begin{array}{ccc}{B1}_x& {B1}_y& {B1}_z\\ {B2}_x& {B2}_y& {B2}_z\\ {B3}_x& {B3}_y& {B3}_z\end{array}\right\};$ The C position: $\left\{\begin{array}{ccc}{C1}_x& {C1}_y& {C1}_z\\ {C2}_x& {C2}_y& {C2}_z\\ {C3}_x& {C3}_y& {C3}_z\end{array}\right\}$

2) home position coordinate and the radius thereof that calculates B, circular section, C measuring position is respectively:

B _circle(B _x，B _y，B _z)，R _B

C _circle(C _x，C _y，C _z)，R _C

3) operation process middle tube body axis is by B _Circle, C _Circle2 decisions, the radius R of circular section between B, the C measuring position _iHaving following formula to mend algorithm with difference determines:

$R_i=R_B+\frac{R_B-R_C}{l}{l}_i---\left(5\right)$

Wherein l is the distance of B, C two measuring position axis directions, l _iBe distance from B measuring position axis direction;

4) the data path planning that carries out the spatterwork of B to C position in view of the above.

The body big to amount of deflection or linearity is bad can be according to above step 1) to 4), select measuring position more than two groups in the spray printing zone, improve certainty of measurement, guarantee carrying out smoothly of spatterwork.

Referring to Fig. 4, the present invention adopts multiposition multimetering method to obtain revising the spatterwork path locus 4 of posterior axis 7 and section radius and the spatterwork path locus 8 contrast schematic diagrames that existing single cross section three point measurement methods are determined axis 9 and section radius.The many measurement points of correction posterior axis 7 of the present invention and existing host computer and single cross section determine between the axis 9 deviation is arranged, and its angle is θ.Therefore measurement of the present invention, operation path determine that method can eliminate the accumulated error that body and roller-way thereof bring effectively, improve homework precision, guarantee device security.

The present invention is applicable to the spatterwork of outer surface of tube body, and the spatterwork of roll coil of strip surfaces externally and internally.

More than by preferred embodiment the specific embodiment of the present invention has been described; but it should be understood that; here concrete description should not be construed as the qualification to the spirit and scope of the invention; the various modifications that the one of ordinary skilled in the art makes the foregoing description after reading this specification, the scope that all belongs to the present invention and protected.

Claims (3)

1. method is determined in an inner surface of tube body spatterwork path, it is characterized in that: in the spray printing zone, select a plurality of positions to carry out three point measurements, at first select two positions to measure, calculate the home position coordinate and the radius of the circular section of this position according to measurement data, then determine any point central coordinate of circle and radius between two positions, again planning is made in the spatterwork between these two positions according to the difference reinforcing method; Select the another location to carry out three point measurements again, the spatterwork planning between the another location is same as described above;

Its concrete steps are:

(1) start position B and the arbitrary position C in the spray printing zone are measured, its measurement data is:

The B position: $\left\{\begin{array}{ccc}{B1}_x& {B1}_y& {B1}_z\\ {B2}_x& {B2}_y& {B2}_z\\ {B3}_x& {B3}_y& {B3}_z\end{array}\right\};$ The C position: $\left\{\begin{array}{ccc}{C1}_x& {C1}_y& {C1}_z\\ {C2}_x& {C2}_y& {C2}_z\\ {C3}_x& {C3}_y& {C3}_z\end{array}\right\}$

(2) home position coordinate and the radius thereof that calculates B, circular section, C measuring position is respectively:

B _circle(B _x，B _y，B _z)，R _B

C _circle(C _x，C _y，C _z)，R _C

(3) operation process middle tube body axis is by B _Circle, C _Circle2 decisions, the radius R of circular section between B, the C measuring position _iHaving following formula to mend algorithm with difference determines:

$R_i=R_B+\frac{R_B-R_C}{l}{l}_i---\left(5\right)$

Wherein l is the distance of B, C two measuring position axis directions, l _iBe distance from B measuring position axis direction;

(4) the data path planning that carries out the spatterwork of B to C position in view of the above;

(5) increase other position again outside the C of position and carry out three point measurements, determine the spatterwork path planning of next section, its step is identical to (4) with (1).

2. method is determined in inner surface of tube body spatterwork according to claim 1 path, it is characterized in that two ends in the spray printing zone carry out two group of three point measurement, determines the spatterwork path planning.

3. method is determined in inner surface of tube body spatterwork according to claim 1 and 2 path, it is characterized in that sensor being housed with measuring tube end position value in jet-printing head device end, determines the spray printing district initial point position in body.

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